P-CBFs generalize CBFs to functionals of predicted flows over a horizon using a terminal backup set and planning-time shift, solved via a single feasible convex QP that certifies safety while optimizing control.
A closed-form control for safety under input constraints using a composition of control barrier functions,
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Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control
P-CBFs generalize CBFs to functionals of predicted flows over a horizon using a terminal backup set and planning-time shift, solved via a single feasible convex QP that certifies safety while optimizing control.